Mohd Aras, Mohd Shahrieel and Ab Rahman, Azhan (2013) Thruster Modelling for Underwater Vehicle Using System Identification Method. International Journal of Advanced Robotic Systems, Volume (252. 2). pp. 1-12. ISSN 1729-8806
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Abstract
This paper describes a study of thruster modelling for a remotely operated underwater vehicle (ROV) by system identification using Microbox 2000/2000C. Microbox 2000/2000C is an XPC target machine device to interface between an ROV thrusters with the MATLAB 2009 software. In this project, a model of the thruster will be developed first so that the system identification toolbox in MATLAB can be used. This project also presents a comparison of mathematical and empirical modelling. The experiments were carried out by using a mini compressor as a dummy depth pressure applied to a pressure sensor. The thruster model will thrust and submerge until it reaches a set point and maintain the set point depth. The depth was based on pressure sensor measurement. A conventional proportional controller was used in this project and the results gathered justified its selection.
| Item Type: | Article |
|---|---|
| Subjects: | T Technology > TC Hydraulic engineering. Ocean engineering |
| Divisions: | Faculty of Electrical Engineering > Department of Mechatronics Engineering |
| Depositing User: | Dr Mohd Shahrieel Mohd Aras |
| Date Deposited: | 27 Jun 2013 04:04 |
| Last Modified: | 28 May 2015 03:53 |
| URI: | http://eprints.utem.edu.my/id/eprint/7976 |
| Statistic Details: | View Download Statistic |
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